diff --git a/python/example_robot_data/robots_loader.py b/python/example_robot_data/robots_loader.py
index e584b9fc5d60e8d9087e6e83e84bc1139974442a..e759f2391daec2c6f0affa32c493d640a83c3b33 100644
--- a/python/example_robot_data/robots_loader.py
+++ b/python/example_robot_data/robots_loader.py
@@ -393,6 +393,12 @@ class AllegroRightHandLoader(RobotLoader):
urdf_subpath = "urdf"
+class AllegroLeftHandLoader(RobotLoader):
+ path = "allegro_hand_description"
+ urdf_filename = "allegro_left_hand.urdf"
+ urdf_subpath = "urdf"
+
+
class UR3Loader(RobotLoader):
path = "ur_description"
urdf_filename = "ur3_robot.urdf"
@@ -496,6 +502,7 @@ ROBOTS = {
"laikago": LaikagoLoader,
"panda": PandaLoader,
"allegro_right_hand": AllegroRightHandLoader,
+ "allegro_left_hand": AllegroLeftHandLoader,
"romeo": RomeoLoader,
"simple_humanoid": SimpleHumanoidLoader,
"simple_humanoid_classical": SimpleHumanoidClassicalLoader,
diff --git a/robots/allegro_hand_description/urdf/allegro_left_hand.urdf b/robots/allegro_hand_description/urdf/allegro_left_hand.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..4f34e5ca5e46d7caa2a935d669a17c1570cd11dd
--- /dev/null
+++ b/robots/allegro_hand_description/urdf/allegro_left_hand.urdf
@@ -0,0 +1,509 @@
+<?xml version="1.0" ?>
+<!-- =================================================================================== -->
+<!-- | This document was autogenerated by xacro from allegro_hand_description_left.xacro | -->
+<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
+<!-- =================================================================================== -->
+<robot name="allegro_hand_left" xmlns:xacro="http://www.ros.org/wiki/xacro">
+ <!--
+rosrun xacro xacro.py allegro_hand_description_right.urdf.xacro > allegro_hand_description_right.urdf
+roslaunch launchers/fuerte/allegro_hand_jgui_right_virtual.launch
+-->
+ <!-- ======================== BASE PARAMS ========================= -->
+ <!-- ======================== FINGER PARAMS ======================== -->
+ <!-- full height from joint to tip. when used,
+the radius of the finger tip sphere will be subtracted
+and one fixed link will be added for the tip. -->
+ <!--0.0435, 0.044981-->
+ <!--0.002298-->
+ <!--0.002298-->
+ <!-- ========================= THUMB PARAMS ========================= -->
+ <!-- ========================= LIMITS ========================= -->
+ <!-- ============================================================================= -->
+ <!-- ============================================================================= -->
+ <!-- ============================================================================= -->
+ <!-- BASE -->
+ <link name="base_link">
+ <visual>
+ <geometry>
+ <mesh filename="package://example-robot-data/robots/allegro_hand_description/meshes/base_link_left.STL"/>
+ </geometry>
+ <!-- LEFT -->
+ <origin rpy="-1.5707963259 0 0" xyz="0 0 0 "/>
+ <!-- RIGHT -->
+ <!--<origin rpy="0 0 0" xyz="0 0 0 "/>-->
+ <material name="black">
+ <color rgba="0.2 0.2 0.2 1"/>
+ </material>
+ </visual>
+ <collision>
+ <origin rpy="0 0 0" xyz="-0.009300 0 -0.0475"/>
+ <geometry>
+ <box size="0.0408 0.1130 0.095"/>
+ </geometry>
+ </collision>
+ </link>
+ <!-- ============================================================================= -->
+ <!-- FINGERS -->
+ <!-- RIGHT HAND due to which finger is number 0 -->
+ <!-- for LEFT HAND switch the sign of the **offset_origin_y** and **finger_angle_r** parameters-->
+ <link name="link_8.0">
+ <visual>
+ <geometry>
+ <mesh filename="package://example-robot-data/robots/allegro_hand_description/meshes/link_0.0.STL"/>
+ </geometry>
+ <material name="black"/>
+ </visual>
+ <collision>
+ <geometry>
+ <box size="0.0196 0.0275 0.0164"/>
+ </geometry>
+ <origin rpy="0 0 0" xyz="0 0 0.0082"/>
+ </collision>
+ </link>
+ <joint name="joint_8.0" type="revolute">
+ <axis xyz="0 0 1"/>
+ <limit effort="0" lower="-0.47" upper="0.47" velocity="0"/>
+ <parent link="base_link"/>
+ <child link="link_8.0"/>
+ <origin rpy="-0.08726646255 0 0" xyz="0 0.0435 -0.001542"/>
+ </joint>
+ <link name="link_9.0">
+ <visual>
+ <geometry>
+ <mesh filename="package://example-robot-data/robots/allegro_hand_description/meshes/link_1.0.STL"/>
+ </geometry>
+ <material name="black"/>
+ </visual>
+ <collision>
+ <geometry>
+ <box size="0.0196 0.0275 0.054"/>
+ </geometry>
+ <origin rpy="0 0 0" xyz="0 0 0.027"/>
+ </collision>
+ </link>
+ <joint name="joint_9.0" type="revolute">
+ <limit effort="0" lower="-0.196" upper="1.61" velocity="0"/>
+ <axis xyz="0 1 0"/>
+ <parent link="link_8.0"/>
+ <child link="link_9.0"/>
+ <origin xyz="0 0 0.0164"/>
+ </joint>
+ <link name="link_10.0">
+ <visual>
+ <geometry>
+ <mesh filename="package://example-robot-data/robots/allegro_hand_description/meshes/link_2.0.STL"/>
+ </geometry>
+ <material name="black"/>
+ </visual>
+ <collision>
+ <geometry>
+ <box size="0.0196 0.0275 0.0384"/>
+ </geometry>
+ <origin rpy="0 0 0" xyz="0 0 0.0192"/>
+ </collision>
+ </link>
+ <joint name="joint_10.0" type="revolute">
+ <axis xyz="0 1 0"/>
+ <limit effort="0" lower="-0.174" upper="1.709" velocity="0"/>
+ <parent link="link_9.0"/>
+ <child link="link_10.0"/>
+ <origin xyz="0 0 0.054"/>
+ </joint>
+ <link name="link_11.0">
+ <visual>
+ <geometry>
+ <mesh filename="package://example-robot-data/robots/allegro_hand_description/meshes/link_3.0.STL"/>
+ </geometry>
+ <material name="black"/>
+ </visual>
+ <collision>
+ <geometry>
+ <box size="0.0196 0.0275 0.0267"/>
+ </geometry>
+ <origin rpy="0 0 0" xyz="0 0 0.01335"/>
+ </collision>
+ </link>
+ <joint name="joint_11.0" type="revolute">
+ <axis xyz="0 1 0"/>
+ <limit effort="0" lower="-0.227" upper="1.618" velocity="0"/>
+ <parent link="link_10.0"/>
+ <child link="link_11.0"/>
+ <origin xyz="0 0 0.0384"/>
+ </joint>
+ <link name="link_11.0_tip">
+ <visual>
+ <geometry>
+ <mesh filename="package://example-robot-data/robots/allegro_hand_description/meshes/link_3.0_tip.STL"/>
+ </geometry>
+ <material name="white">
+ <color rgba=".9 .9 .9 1"/>
+ </material>
+ </visual>
+ <collision>
+ <geometry>
+ <sphere radius="0.012"/>
+ </geometry>
+ </collision>
+ </link>
+ <joint name="joint_11.0_tip" type="fixed">
+ <parent link="link_11.0"/>
+ <child link="link_11.0_tip"/>
+ <origin rpy="0 0 0" xyz="0 0 0.0267"/>
+ </joint>
+ <link name="link_4.0">
+ <visual>
+ <geometry>
+ <mesh filename="package://example-robot-data/robots/allegro_hand_description/meshes/link_0.0.STL"/>
+ </geometry>
+ <material name="black"/>
+ </visual>
+ <collision>
+ <geometry>
+ <box size="0.0196 0.0275 0.0164"/>
+ </geometry>
+ <origin rpy="0 0 0" xyz="0 0 0.0082"/>
+ </collision>
+ </link>
+ <joint name="joint_4.0" type="revolute">
+ <axis xyz="0 0 1"/>
+ <limit effort="0" lower="-0.47" upper="0.47" velocity="0"/>
+ <parent link="base_link"/>
+ <child link="link_4.0"/>
+ <origin rpy="0.0 0 0" xyz="0 0 0.0007"/>
+ </joint>
+ <link name="link_5.0">
+ <visual>
+ <geometry>
+ <mesh filename="package://example-robot-data/robots/allegro_hand_description/meshes/link_1.0.STL"/>
+ </geometry>
+ <material name="black"/>
+ </visual>
+ <collision>
+ <geometry>
+ <box size="0.0196 0.0275 0.054"/>
+ </geometry>
+ <origin rpy="0 0 0" xyz="0 0 0.027"/>
+ </collision>
+ </link>
+ <joint name="joint_5.0" type="revolute">
+ <limit effort="0" lower="-0.196" upper="1.61" velocity="0"/>
+ <axis xyz="0 1 0"/>
+ <parent link="link_4.0"/>
+ <child link="link_5.0"/>
+ <origin xyz="0 0 0.0164"/>
+ </joint>
+ <link name="link_6.0">
+ <visual>
+ <geometry>
+ <mesh filename="package://example-robot-data/robots/allegro_hand_description/meshes/link_2.0.STL"/>
+ </geometry>
+ <material name="black"/>
+ </visual>
+ <collision>
+ <geometry>
+ <box size="0.0196 0.0275 0.0384"/>
+ </geometry>
+ <origin rpy="0 0 0" xyz="0 0 0.0192"/>
+ </collision>
+ </link>
+ <joint name="joint_6.0" type="revolute">
+ <axis xyz="0 1 0"/>
+ <limit effort="0" lower="-0.174" upper="1.709" velocity="0"/>
+ <parent link="link_5.0"/>
+ <child link="link_6.0"/>
+ <origin xyz="0 0 0.054"/>
+ </joint>
+ <link name="link_7.0">
+ <visual>
+ <geometry>
+ <mesh filename="package://example-robot-data/robots/allegro_hand_description/meshes/link_3.0.STL"/>
+ </geometry>
+ <material name="black"/>
+ </visual>
+ <collision>
+ <geometry>
+ <box size="0.0196 0.0275 0.0267"/>
+ </geometry>
+ <origin rpy="0 0 0" xyz="0 0 0.01335"/>
+ </collision>
+ </link>
+ <joint name="joint_7.0" type="revolute">
+ <axis xyz="0 1 0"/>
+ <limit effort="0" lower="-0.227" upper="1.618" velocity="0"/>
+ <parent link="link_6.0"/>
+ <child link="link_7.0"/>
+ <origin xyz="0 0 0.0384"/>
+ </joint>
+ <link name="link_7.0_tip">
+ <visual>
+ <geometry>
+ <mesh filename="package://example-robot-data/robots/allegro_hand_description/meshes/link_3.0_tip.STL"/>
+ </geometry>
+ <material name="white">
+ <color rgba=".9 .9 .9 1"/>
+ </material>
+ </visual>
+ <collision>
+ <geometry>
+ <sphere radius="0.012"/>
+ </geometry>
+ </collision>
+ </link>
+ <joint name="joint_7.0_tip" type="fixed">
+ <parent link="link_7.0"/>
+ <child link="link_7.0_tip"/>
+ <origin rpy="0 0 0" xyz="0 0 0.0267"/>
+ </joint>
+ <link name="link_0.0">
+ <visual>
+ <geometry>
+ <mesh filename="package://example-robot-data/robots/allegro_hand_description/meshes/link_0.0.STL"/>
+ </geometry>
+ <material name="black"/>
+ </visual>
+ <collision>
+ <geometry>
+ <box size="0.0196 0.0275 0.0164"/>
+ </geometry>
+ <origin rpy="0 0 0" xyz="0 0 0.0082"/>
+ </collision>
+ </link>
+ <joint name="joint_0.0" type="revolute">
+ <axis xyz="0 0 1"/>
+ <limit effort="0" lower="-0.47" upper="0.47" velocity="0"/>
+ <parent link="base_link"/>
+ <child link="link_0.0"/>
+ <origin rpy="0.08726646255 0 0" xyz="0 -0.0435 -0.001542"/>
+ </joint>
+ <link name="link_1.0">
+ <visual>
+ <geometry>
+ <mesh filename="package://example-robot-data/robots/allegro_hand_description/meshes/link_1.0.STL"/>
+ </geometry>
+ <material name="black"/>
+ </visual>
+ <collision>
+ <geometry>
+ <box size="0.0196 0.0275 0.054"/>
+ </geometry>
+ <origin rpy="0 0 0" xyz="0 0 0.027"/>
+ </collision>
+ </link>
+ <joint name="joint_1.0" type="revolute">
+ <limit effort="0" lower="-0.196" upper="1.61" velocity="0"/>
+ <axis xyz="0 1 0"/>
+ <parent link="link_0.0"/>
+ <child link="link_1.0"/>
+ <origin xyz="0 0 0.0164"/>
+ </joint>
+ <link name="link_2.0">
+ <visual>
+ <geometry>
+ <mesh filename="package://example-robot-data/robots/allegro_hand_description/meshes/link_2.0.STL"/>
+ </geometry>
+ <material name="black"/>
+ </visual>
+ <collision>
+ <geometry>
+ <box size="0.0196 0.0275 0.0384"/>
+ </geometry>
+ <origin rpy="0 0 0" xyz="0 0 0.0192"/>
+ </collision>
+ </link>
+ <joint name="joint_2.0" type="revolute">
+ <axis xyz="0 1 0"/>
+ <limit effort="0" lower="-0.174" upper="1.709" velocity="0"/>
+ <parent link="link_1.0"/>
+ <child link="link_2.0"/>
+ <origin xyz="0 0 0.054"/>
+ </joint>
+ <link name="link_3.0">
+ <visual>
+ <geometry>
+ <mesh filename="package://example-robot-data/robots/allegro_hand_description/meshes/link_3.0.STL"/>
+ </geometry>
+ <material name="black"/>
+ </visual>
+ <collision>
+ <geometry>
+ <box size="0.0196 0.0275 0.0267"/>
+ </geometry>
+ <origin rpy="0 0 0" xyz="0 0 0.01335"/>
+ </collision>
+ </link>
+ <joint name="joint_3.0" type="revolute">
+ <axis xyz="0 1 0"/>
+ <limit effort="0" lower="-0.227" upper="1.618" velocity="0"/>
+ <parent link="link_2.0"/>
+ <child link="link_3.0"/>
+ <origin xyz="0 0 0.0384"/>
+ </joint>
+ <link name="link_3.0_tip">
+ <visual>
+ <geometry>
+ <mesh filename="package://example-robot-data/robots/allegro_hand_description/meshes/link_3.0_tip.STL"/>
+ </geometry>
+ <material name="white">
+ <color rgba=".9 .9 .9 1"/>
+ </material>
+ </visual>
+ <collision>
+ <geometry>
+ <sphere radius="0.012"/>
+ </geometry>
+ </collision>
+ </link>
+ <joint name="joint_3.0_tip" type="fixed">
+ <parent link="link_3.0"/>
+ <child link="link_3.0_tip"/>
+ <origin rpy="0 0 0" xyz="0 0 0.0267"/>
+ </joint>
+ <!-- THUMB -->
+ <!--
+<xacro:thumb_right
+ finger_num= "3"
+ offset_origin_x= "-0.0182"
+ offset_origin_y= "0.019333"
+ offset_origin_z= "-0.045987"
+
+
+ finger_angle_r= "0"
+ finger_angle_p= "-${95*DEG2RAD}"
+ finger_angle_y= "-${90*DEG2RAD}"
+/>
+-->
+ <!--
+ finger_angle_r= "${90*DEG2RAD}"
+ finger_angle_p= "-${100*DEG2RAD}"
+ finger_angle_y= "${0*DEG2RAD}"
+ -->
+ <link name="link_12.0">
+ <visual>
+ <geometry>
+ <!-- RIGHT -->
+ <!-- <mesh filename="package://example-robot-data/robots/allegro_hand_description/meshes/link_12.0_right.STL" /> -->
+ <!-- LEFT -->
+ <mesh filename="package://example-robot-data/robots/allegro_hand_description/meshes/link_12.0_left.STL"/>
+ </geometry>
+ <material name="black">
+ <color rgba=".2 .2 .2 1"/>
+ </material>
+ <origin rpy="3.1415926518 0 0" xyz="0 0 0"/>
+ </visual>
+ <collision>
+ <geometry>
+ <box size="0.0358 0.034 0.0455"/>
+ </geometry>
+ <!-- RIGHT -->
+ <!-- <origin rpy="0 0 0" xyz="${-0.0358/2+0.0} ${.018/2} ${.029/2}"/> -->
+ <!-- LEFT -->
+ <origin rpy="0 0 0" xyz="-0.0179 -0.009 0.0145"/>
+ </collision>
+ </link>
+ <joint name="joint_12.0" type="revolute">
+ <axis xyz="+1 0 0"/>
+ <limit effort="0" lower="0.263" upper="1.396" velocity="0"/>
+ <parent link="base_link"/>
+ <child link="link_12.0"/>
+ <origin rpy="0 -1.65806278845 1.5707963259" xyz="-0.0182 -0.019333 -0.045987"/>
+ </joint>
+ <link name="link_13.0">
+ <visual>
+ <geometry>
+ <mesh filename="package://example-robot-data/robots/allegro_hand_description/meshes/link_13.0.STL"/>
+ </geometry>
+ <material name="black">
+ <color rgba=".2 .2 .2 1"/>
+ </material>
+ </visual>
+ <collision>
+ <geometry>
+ <box size="0.0196 0.0275 0.0177"/>
+ </geometry>
+ <origin rpy="0 0 0" xyz="0 0 0.00885"/>
+ </collision>
+ </link>
+ <joint name="joint_13.0" type="revolute">
+ <axis xyz="0 0 -1"/>
+ <limit effort="0" lower="-0.105" upper="1.163" velocity="0"/>
+ <parent link="link_12.0"/>
+ <child link="link_13.0"/>
+ <!-- RIGHT -->
+ <!-- <origin xyz="-0.027 0.005 0.0399"/> -->
+ <!-- LEFT -->
+ <origin xyz="-0.027 -0.005 0.0399"/>
+ </joint>
+ <link name="link_14.0">
+ <visual>
+ <geometry>
+ <mesh filename="package://example-robot-data/robots/allegro_hand_description/meshes/link_14.0.STL"/>
+ </geometry>
+ <material name="black">
+ </material>
+ </visual>
+ <collision>
+ <geometry>
+ <box size="0.0196 0.0275 0.0514"/>
+ </geometry>
+ <origin rpy="0 0 0" xyz="0 0 0.0257"/>
+ </collision>
+ </link>
+ <joint name="joint_14.0" type="revolute">
+ <axis xyz="0 1 0"/>
+ <limit effort="0" lower="-0.189" upper="1.644" velocity="0"/>
+ <parent link="link_13.0"/>
+ <child link="link_14.0"/>
+ <origin xyz="0 0 0.0177"/>
+ </joint>
+ <link name="link_15.0">
+ <visual>
+ <geometry>
+ <mesh filename="package://example-robot-data/robots/allegro_hand_description/meshes/link_15.0.STL"/>
+ </geometry>
+ <material name="black">
+ </material>
+ </visual>
+ <collision>
+ <geometry>
+ <box size="0.0196 0.0275 0.0423"/>
+ </geometry>
+ <origin rpy="0 0 0" xyz="0 0 0.02115"/>
+ </collision>
+ </link>
+ <joint name="joint_15.0" type="revolute">
+ <axis xyz="0 1 0"/>
+ <limit effort="0" lower="-0.162" upper="1.719" velocity="0"/>
+ <parent link="link_14.0"/>
+ <child link="link_15.0"/>
+ <origin xyz="0 0 0.0514"/>
+ </joint>
+ <link name="link_15.0_tip">
+ <visual>
+ <geometry>
+ <mesh filename="package://example-robot-data/robots/allegro_hand_description/meshes/link_15.0_tip.STL"/>
+ </geometry>
+ <material name="white">
+ <color rgba=".9 .9 .9 1"/>
+ </material>
+ </visual>
+ <collision>
+ <geometry>
+ <sphere radius="0.012"/>
+ </geometry>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ </collision>
+ </link>
+ <joint name="joint_15.0_tip" type="fixed">
+ <parent link="link_15.0"/>
+ <child link="link_15.0_tip"/>
+ <origin rpy="0 0 0" xyz="0 0 0.0423"/>
+ <!--0.0267000000000005-->
+ </joint>
+ <!-- ============================================================================= -->
+ <!-- ============================================================================= -->
+ <!-- ============================================================================= -->
+ <!-- THUMB MACRO -->
+ <!-- END THUMB MACRO -->
+ <!-- THREE FINGER MACRO -->
+ <!-- [[END]] THREE FINGER MACRO -->
+</robot>